Direct Force and Pose NMPC with Multiple Interaction Modes for Aerial Push-and-Slide Operations
OPEN ACCESS
Loading...
Author / Producer
Date
2021
Publication Type
Conference Paper
ETH Bibliography
yes
Citations
Altmetric
OPEN ACCESS
Data
Rights / License
Abstract
In this paper, we present a model predictive
controller for a fully actuated aerial manipulator to track a
hybrid force and pose trajectory at the end-effector in an aerial
interaction task. A force sensor at the end-effector is used to
detect contact and to directly control the interaction force. We
propose an approach for automatic transition between three
operation modes which reflect the state of contact constraints,
including free flight and two modes for force control based on
static or dynamic friction at the end-effector. This division into
three modes allows for different mode-specific controller tunings
to optimize the desired performance throughout an interaction
task. Results from flight experiments which combine force,
position, and attitude tracking, show the performance of the
controller in terms of accuracy and precision. The performance
is further benchmarked against a hybrid force/impedance
controller.
Permanent link
Publication status
published
Editor
Book title
2021 IEEE International Conference on Robotics and Automation (ICRA)
Journal / series
Volume
Pages / Article No.
131 - 137
Publisher
IEEE
Event
2021 IEEE International Conference on Robotics and Automation (ICRA 2021)
Edition / version
Methods
Software
Geographic location
Date collected
Date created
Subject
Aerial robotics; MPC; Aerial Interaction; Tiltrotor; MAV
Organisational unit
03737 - Siegwart, Roland Y. / Siegwart, Roland Y.
02284 - NFS Digitale Fabrikation / NCCR Digital Fabrication